Cramer-Rao bounds for synchronization of rotations
Cramer-Rao bounds for synchronization of rotations
Synchronization of rotations is the problem of estimating a set of rotations Ri ∈ SO(n), i=1⋯ N, based on noisy measurements of relative rotations RiRj⊤. This fundamental problem has found many recent applications, most importantly in structural biology. We provide a framework to study synchronization as estimation on Riemannian manifolds …